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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<a href="jps__planner_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef JPS_PLANNER_BASE_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define JPS_PLANNER_BASE_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="data__type_8h.html">jps_basis/data_type.h</a>&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;jps_planner/jps_planner/graph_search.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="map__util_8h.html">jps_collision/map_util.h</a>&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">class </span>GraphSearch;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Dim&gt;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classJPSPlanner.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classJPSPlanner.html">JPSPlanner</a></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;{</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="classJPSPlanner.html#a40f90dbc893afe917e21cf8e452b9bf6">JPSPlanner</a>(<span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classJPSPlanner.html#a6010d38eee1042eaaa60227ee562f099">setMapUtil</a>(<span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classJPS_1_1MapUtil.html">JPS::MapUtil&lt;Dim&gt;</a>&gt;&amp; map_util);</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classJPSPlanner.html#a93ab066509dd8984b4ca50cb88eee5f1">status</a>();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#aa6acf7cf663fcc260bc67c4d523f6d43">getPath</a>();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#aebbd65beff7d397eed191a35078f61ef">getRawPath</a>();</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#a7d0cfae7a132861188e362de04bf23d9">removeLinePts</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> &amp;path);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#aeadb00efb90d9ce1ce5508c6233d3620">removeCornerPts</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> &amp;path);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classJPSPlanner.html#ab3cc838e3b6817c159f4d29037a7095a">updateMap</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classJPSPlanner.html#a8f6ae73c17f412a893a542efaa6e625f">plan</a>(<span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> &amp;start, <span class="keyword">const</span> <a class="code" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf&lt;Dim&gt;</a> &amp;goal, <a class="code" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> eps = 1, <span class="keywordtype">bool</span> use_jps = <span class="keyword">true</span>);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#a0a26e20af3012aa41ed9a52c254fb32b">getOpenSet</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#ab481ff2ad9145367506010ea8915032a">getCloseSet</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#acdcdd7e7400d7f9e210d435f24a1e11f">getAllSet</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#ab4955b4445f34b833060f3924c994c4f">   56</a></span>&#160;    std::shared_ptr&lt;JPS::MapUtil&lt;Dim&gt;&gt; <a class="code" href="classJPSPlanner.html#ab4955b4445f34b833060f3924c994c4f">map_util_</a>;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#a4cd510f4058572a84bf96450a7add32b">   58</a></span>&#160;    std::shared_ptr&lt;JPS::GraphSearch&gt; <a class="code" href="classJPSPlanner.html#a4cd510f4058572a84bf96450a7add32b">graph_search_</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#a5c53347ae8c5c8d51dfb474ede9f4b34">   60</a></span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#a5c53347ae8c5c8d51dfb474ede9f4b34">raw_path_</a>;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#a8feba0adc780669b8e2cb9f34d943e65">   62</a></span>&#160;    <a class="code" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf&lt;Dim&gt;</a> <a class="code" href="classJPSPlanner.html#a8feba0adc780669b8e2cb9f34d943e65">path_</a>;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#ab410c44958c4836634833122bf28aa0f">   64</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classJPSPlanner.html#ab410c44958c4836634833122bf28aa0f">status_</a> = 0;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#a2e76b13f0da618aac2b0d0cb5ef97c30">   66</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classJPSPlanner.html#a2e76b13f0da618aac2b0d0cb5ef97c30">planner_verbose_</a>;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classJPSPlanner.html#a1c9067d5114ac6d3e50c2f0d073b49f9">   68</a></span>&#160;    std::vector&lt;char&gt; <a class="code" href="classJPSPlanner.html#a1c9067d5114ac6d3e50c2f0d073b49f9">cmap_</a>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;};</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="jps__planner_8h.html#a8aebc2d5a50208e11e1f5d71596bc587">   72</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classJPSPlanner.html">JPSPlanner&lt;2&gt;</a> <a class="code" href="jps__planner_8h.html#a8aebc2d5a50208e11e1f5d71596bc587">JPSPlanner2D</a>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="jps__planner_8h.html#a77ad15426d3568463528a0cbd88698ef">   75</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classJPSPlanner.html">JPSPlanner&lt;3&gt;</a> <a class="code" href="jps__planner_8h.html#a77ad15426d3568463528a0cbd88698ef">JPSPlanner3D</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classJPSPlanner_html_a0a26e20af3012aa41ed9a52c254fb32b"><div class="ttname"><a href="classJPSPlanner.html#a0a26e20af3012aa41ed9a52c254fb32b">JPSPlanner::getOpenSet</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getOpenSet() const</div><div class="ttdoc">Get the nodes in open set. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:92</div></div>
<div class="ttc" id="classJPSPlanner_html_a4cd510f4058572a84bf96450a7add32b"><div class="ttname"><a href="classJPSPlanner.html#a4cd510f4058572a84bf96450a7add32b">JPSPlanner::graph_search_</a></div><div class="ttdeci">std::shared_ptr&lt; JPS::GraphSearch &gt; graph_search_</div><div class="ttdoc">The planner. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:58</div></div>
<div class="ttc" id="classJPSPlanner_html_a5c53347ae8c5c8d51dfb474ede9f4b34"><div class="ttname"><a href="classJPSPlanner.html#a5c53347ae8c5c8d51dfb474ede9f4b34">JPSPlanner::raw_path_</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; raw_path_</div><div class="ttdoc">Raw path from planner. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:60</div></div>
<div class="ttc" id="classJPSPlanner_html_a8feba0adc780669b8e2cb9f34d943e65"><div class="ttname"><a href="classJPSPlanner.html#a8feba0adc780669b8e2cb9f34d943e65">JPSPlanner::path_</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; path_</div><div class="ttdoc">Modified path for future usage. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:62</div></div>
<div class="ttc" id="classJPSPlanner_html_ab4955b4445f34b833060f3924c994c4f"><div class="ttname"><a href="classJPSPlanner.html#ab4955b4445f34b833060f3924c994c4f">JPSPlanner::map_util_</a></div><div class="ttdeci">std::shared_ptr&lt; JPS::MapUtil&lt; Dim &gt; &gt; map_util_</div><div class="ttdoc">Assume using 3D voxel map for all 2d and 3d planning. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:56</div></div>
<div class="ttc" id="classJPS_1_1MapUtil_html"><div class="ttname"><a href="classJPS_1_1MapUtil.html">JPS::MapUtil</a></div><div class="ttdef"><b>Definition:</b> map_util.h:18</div></div>
<div class="ttc" id="classJPSPlanner_html_a40f90dbc893afe917e21cf8e452b9bf6"><div class="ttname"><a href="classJPSPlanner.html#a40f90dbc893afe917e21cf8e452b9bf6">JPSPlanner::JPSPlanner</a></div><div class="ttdeci">JPSPlanner(bool verbose=false)</div><div class="ttdoc">Simple constructor. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:4</div></div>
<div class="ttc" id="classJPSPlanner_html_a93ab066509dd8984b4ca50cb88eee5f1"><div class="ttname"><a href="classJPSPlanner.html#a93ab066509dd8984b4ca50cb88eee5f1">JPSPlanner::status</a></div><div class="ttdeci">int status()</div><div class="ttdoc">Status of the planner. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:16</div></div>
<div class="ttc" id="classJPSPlanner_html_acdcdd7e7400d7f9e210d435f24a1e11f"><div class="ttname"><a href="classJPSPlanner.html#acdcdd7e7400d7f9e210d435f24a1e11f">JPSPlanner::getAllSet</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getAllSet() const</div><div class="ttdoc">Get all the nodes. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:124</div></div>
<div class="ttc" id="jps__planner_8h_html_a77ad15426d3568463528a0cbd88698ef"><div class="ttname"><a href="jps__planner_8h.html#a77ad15426d3568463528a0cbd88698ef">JPSPlanner3D</a></div><div class="ttdeci">JPSPlanner&lt; 3 &gt; JPSPlanner3D</div><div class="ttdoc">Planner for 3D VoxelMap. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:75</div></div>
<div class="ttc" id="classJPSPlanner_html"><div class="ttname"><a href="classJPSPlanner.html">JPSPlanner</a></div><div class="ttdoc">Abstract base for planning. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:17</div></div>
<div class="ttc" id="classJPSPlanner_html_aeadb00efb90d9ce1ce5508c6233d3620"><div class="ttname"><a href="classJPSPlanner.html#aeadb00efb90d9ce1ce5508c6233d3620">JPSPlanner::removeCornerPts</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; removeCornerPts(const vec_Vecf&lt; Dim &gt; &amp;path)</div><div class="ttdoc">Remove some corner waypoints. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:25</div></div>
<div class="ttc" id="classJPSPlanner_html_a7d0cfae7a132861188e362de04bf23d9"><div class="ttname"><a href="classJPSPlanner.html#a7d0cfae7a132861188e362de04bf23d9">JPSPlanner::removeLinePts</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; removeLinePts(const vec_Vecf&lt; Dim &gt; &amp;path)</div><div class="ttdoc">remove redundant points on the same line </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:69</div></div>
<div class="ttc" id="map__util_8h_html"><div class="ttname"><a href="map__util_8h.html">map_util.h</a></div><div class="ttdoc">MapUtil classes. </div></div>
<div class="ttc" id="jps__planner_8h_html_a8aebc2d5a50208e11e1f5d71596bc587"><div class="ttname"><a href="jps__planner_8h.html#a8aebc2d5a50208e11e1f5d71596bc587">JPSPlanner2D</a></div><div class="ttdeci">JPSPlanner&lt; 2 &gt; JPSPlanner2D</div><div class="ttdoc">Planner for 2D OccMap. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:72</div></div>
<div class="ttc" id="classJPSPlanner_html_a2e76b13f0da618aac2b0d0cb5ef97c30"><div class="ttname"><a href="classJPSPlanner.html#a2e76b13f0da618aac2b0d0cb5ef97c30">JPSPlanner::planner_verbose_</a></div><div class="ttdeci">bool planner_verbose_</div><div class="ttdoc">Enabled for printing info. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:66</div></div>
<div class="ttc" id="data__type_8h_html_a0a3b37beb40c06edc02cb4b7339f2b96"><div class="ttname"><a href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a></div><div class="ttdeci">vec_E&lt; Vecf&lt; N &gt; &gt; vec_Vecf</div><div class="ttdoc">Vector of Eigen 1D float vector. </div><div class="ttdef"><b>Definition:</b> data_type.h:69</div></div>
<div class="ttc" id="classJPSPlanner_html_a1c9067d5114ac6d3e50c2f0d073b49f9"><div class="ttname"><a href="classJPSPlanner.html#a1c9067d5114ac6d3e50c2f0d073b49f9">JPSPlanner::cmap_</a></div><div class="ttdeci">std::vector&lt; char &gt; cmap_</div><div class="ttdoc">1-D map array </div><div class="ttdef"><b>Definition:</b> jps_planner.h:68</div></div>
<div class="ttc" id="classJPSPlanner_html_ab410c44958c4836634833122bf28aa0f"><div class="ttname"><a href="classJPSPlanner.html#ab410c44958c4836634833122bf28aa0f">JPSPlanner::status_</a></div><div class="ttdeci">int status_</div><div class="ttdoc">Flag indicating the success of planning. </div><div class="ttdef"><b>Definition:</b> jps_planner.h:64</div></div>
<div class="ttc" id="classJPSPlanner_html_ab481ff2ad9145367506010ea8915032a"><div class="ttname"><a href="classJPSPlanner.html#ab481ff2ad9145367506010ea8915032a">JPSPlanner::getCloseSet</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getCloseSet() const</div><div class="ttdoc">Get the nodes in close set. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:108</div></div>
<div class="ttc" id="data__type_8h_html_a7c99d9360fc6cac2762b786e2fb52266"><div class="ttname"><a href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a></div><div class="ttdeci">double decimal_t</div><div class="ttdoc">Rename the float type used in lib. </div><div class="ttdef"><b>Definition:</b> data_type.h:48</div></div>
<div class="ttc" id="data__type_8h_html"><div class="ttname"><a href="data__type_8h.html">data_type.h</a></div><div class="ttdoc">Defines all data types used in this lib. </div></div>
<div class="ttc" id="data__type_8h_html_a3a0c45655a5e009e56634ccde0c5c575"><div class="ttname"><a href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a></div><div class="ttdeci">Eigen::Matrix&lt; decimal_t, N, 1 &gt; Vecf</div><div class="ttdoc">Eigen 1D float vector of size N. </div><div class="ttdef"><b>Definition:</b> data_type.h:55</div></div>
<div class="ttc" id="classJPSPlanner_html_aa6acf7cf663fcc260bc67c4d523f6d43"><div class="ttname"><a href="classJPSPlanner.html#aa6acf7cf663fcc260bc67c4d523f6d43">JPSPlanner::getPath</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getPath()</div><div class="ttdoc">Get the modified path. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:19</div></div>
<div class="ttc" id="classJPSPlanner_html_aebbd65beff7d397eed191a35078f61ef"><div class="ttname"><a href="classJPSPlanner.html#aebbd65beff7d397eed191a35078f61ef">JPSPlanner::getRawPath</a></div><div class="ttdeci">vec_Vecf&lt; Dim &gt; getRawPath()</div><div class="ttdoc">Get the raw path. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:22</div></div>
<div class="ttc" id="classJPSPlanner_html_a8f6ae73c17f412a893a542efaa6e625f"><div class="ttname"><a href="classJPSPlanner.html#a8f6ae73c17f412a893a542efaa6e625f">JPSPlanner::plan</a></div><div class="ttdeci">bool plan(const Vecf&lt; Dim &gt; &amp;start, const Vecf&lt; Dim &gt; &amp;goal, decimal_t eps=1, bool use_jps=true)</div><div class="ttdoc">Planning function. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:164</div></div>
<div class="ttc" id="classJPSPlanner_html_ab3cc838e3b6817c159f4d29037a7095a"><div class="ttname"><a href="classJPSPlanner.html#ab3cc838e3b6817c159f4d29037a7095a">JPSPlanner::updateMap</a></div><div class="ttdeci">void updateMap()</div><div class="ttdoc">Must be called before run the planning thread. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:140</div></div>
<div class="ttc" id="classJPSPlanner_html_a6010d38eee1042eaaa60227ee562f099"><div class="ttname"><a href="classJPSPlanner.html#a6010d38eee1042eaaa60227ee562f099">JPSPlanner::setMapUtil</a></div><div class="ttdeci">void setMapUtil(const std::shared_ptr&lt; JPS::MapUtil&lt; Dim &gt;&gt; &amp;map_util)</div><div class="ttdoc">Set map util for collistion checking. </div><div class="ttdef"><b>Definition:</b> jps_planner.cpp:11</div></div>
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